; -*- mode: lisp; -*-

(RSG 0 1)
(
 (templ $lenX $lenY $lenZ $totalMass $material)
 (nd Box
     (setExtents $lenX $lenY $lenZ)
     (setMaterial $material)
     )

 (nd RigidBody
     (setName boxBody)
     (setBoxTotal $totalMass $lenX $lenY $lenZ)
        (nd DragController
	     (setAngularDrag 0.01)
	     (setLinearDrag 0.01)
	    )
     )

 (nd BoxCollider
     (setBoxLengths $lenX $lenY $lenZ)
     (importScene rsg/agent/nao/contactjointhandler.rsg)
     )
 )
